Your SlideShare is downloading. ×
0
Finger Rehabilitation Robot - Justinas Miseikis
Finger Rehabilitation Robot - Justinas Miseikis
Finger Rehabilitation Robot - Justinas Miseikis
Finger Rehabilitation Robot - Justinas Miseikis
Finger Rehabilitation Robot - Justinas Miseikis
Finger Rehabilitation Robot - Justinas Miseikis
Finger Rehabilitation Robot - Justinas Miseikis
Finger Rehabilitation Robot - Justinas Miseikis
Finger Rehabilitation Robot - Justinas Miseikis
Finger Rehabilitation Robot - Justinas Miseikis
Finger Rehabilitation Robot - Justinas Miseikis
Finger Rehabilitation Robot - Justinas Miseikis
Finger Rehabilitation Robot - Justinas Miseikis
Finger Rehabilitation Robot - Justinas Miseikis
Finger Rehabilitation Robot - Justinas Miseikis
Finger Rehabilitation Robot - Justinas Miseikis
Finger Rehabilitation Robot - Justinas Miseikis
Finger Rehabilitation Robot - Justinas Miseikis
Finger Rehabilitation Robot - Justinas Miseikis
Finger Rehabilitation Robot - Justinas Miseikis
Upcoming SlideShare
Loading in...5
×

Thanks for flagging this SlideShare!

Oops! An error has occurred.

×
Saving this for later? Get the SlideShare app to save on your phone or tablet. Read anywhere, anytime – even offline.
Text the download link to your phone
Standard text messaging rates apply

Finger Rehabilitation Robot - Justinas Miseikis

488

Published on

Finger Rehabilitation robot designed, constructed and control added by Justinas Miseikis as a semester project at ETH Zurich. Maximum possible score, 6, was awarded for the project.

Finger Rehabilitation robot designed, constructed and control added by Justinas Miseikis as a semester project at ETH Zurich. Maximum possible score, 6, was awarded for the project.

Published in: Technology, Business
1 Comment
2 Likes
Statistics
Notes
No Downloads
Views
Total Views
488
On Slideshare
0
From Embeds
0
Number of Embeds
1
Actions
Shares
0
Downloads
17
Comments
1
Likes
2
Embeds 0
No embeds

Report content
Flagged as inappropriate Flag as inappropriate
Flag as inappropriate

Select your reason for flagging this presentation as inappropriate.

Cancel
No notes for slide
  • \n
  • \n
  • \n
  • \n
  • \n
  • \n
  • \n
  • \n
  • \n
  • \n
  • \n
  • \n
  • \n
  • \n
  • \n
  • \n
  • \n
  • \n
  • \n
  • \n
  • Transcript

    • 1. FINGER REHABILITATION ROBOT Justinas Mišeikis Supervisors: Johannes Brand Dr. Kynan Eng Prof. Manfred Morari 1
    • 2. REHABILITATION ROBOTSRepetitive Interactivemovements tasks Goal: Optimised human motor function recoveryMovement Adaptive control training 2
    • 3. CONTROL TECHNIQUES 1. Minimum Impedance Reduce the mechanical movement resistance2. Assist-As-Needed 3. Error Augmentation Patient / user Patient / user Moving target Moving target 3
    • 4. REQUIREMENTS• One dimensional index finger movements• Low cost• Safe• Portable• Precise force measurement and position tracking• Allow therapist interaction• Real-time haptic feedback 4
    • 5. EXISTING ROBOTS Hong Kong Polytechnic University AmadeoA D C ETHZ Relab - Knob 5
    • 6. REQUIREMENTS• One dimensional index finger movements• Low cost• Safe• Portable• Precise force measurement and position tracking• Allow therapist interaction• Real-time haptic feedback 6
    • 7. “THERABOT” OVERVIEW• Based on Novint Falcon haptic gaming controller• Custom made finger handle, axial load• Therapist interaction: direct or indirect• Force measurement• Haptic feedback• Virtual reality Novint Falcon 7
    • 8. MECHANICAL DESIGNAttachment toNovint Falcon Virtual Reality display Finger Ring with the Movement Therapist Handle direction Thumb Hold 8
    • 9. MECHANICAL DESIGN Top ViewAttachment toNovint Falcon Therapist handleForce Sensors Thumb hold 9
    • 10. MECHANICAL DESIGN Side ViewTherapist Handle AttachmentHolding Frame Force Sensors Sliding Finger Hold(with paddings) 10
    • 11. INTERACTION SCENARIOS 1. Control: Ideal Trajectory, Moving Target 2. Manual assistance 3. InteractiveTele-rehabilitation 11
    • 12. CONTROLLER 12
    • 13. INTERACTIVE GAME• Controlling the index finger of the virtual arm• Task: follow the line 13
    • 14. EXPERIMENT• Impedance control• Forwards - backwards movements• Varying support / resistance constants• Applied forces and position change recorded• Three full movement cycles analysed 14
    • 15. RESULTS Forces and movement velocity Corresponding data from the same experiment Position change 15
    • 16. RESULTS SupportResistance 16
    • 17. HARDWARE IMPROVEMENTS• Add missing sensors• Finger ‘sleeves’ for adjusting finger hole size• Mechanically ‘locking’ vertical axis• Comfortable wrist-rest• Emergency stop button 17
    • 18. SOFTWARE IMPROVEMENTS• More sophisticated minimum impedance controller• Assist-As-Needed and Error Augmentation control• Multiplayer protocol for tele-rehabilitation• More accurate force sensor calibration• Data analysis tool• Additional games 18
    • 19. REHAB GROUP Supervisors Kynan Eng Manfred Morari Group MembersKatherine August Lisa HolperJohannes Brand Daniel Kiper Edith Chevrier Pawel Pyk Marie-Claude Michael Villiger Hepp-Reymond 19
    • 20. THANK YOU! 20

    ×